Picking device based on visual identification

Abstract

The utility model relates to a picking device based on visual identification, which comprises a vehicle body, and the vehicle body comprises a chassis; the tracks comprise two track groups which are symmetrically arranged on the left side and the right side of the chassis respectively, any track group comprises a first track, a second track and a third track which rotate synchronously, the first track and the second track are arranged at the front end and the rear end of the chassis respectively, and the third track is arranged between the front end and the rear end; the third crawler belt is located on the sides, opposite to the connecting chassis, of the first crawler belt and the second crawler belt, and the front end of the first crawler belt and the front end of the second crawler belt can tilt up and down relative to the chassis; the first crawler belt and the second crawler belt are arranged at the front end and the rear end of the chassis, the front ends of the first crawler belt and the second crawler belt can tilt up or down, the vehicle body can flexibly adapt to road conditions with uneven concave portions, the stability of the vehicle body is improved, and picking accuracy and stability are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural automation, in particular to a picking device based on visual recognition. Background Art

[0002] With the growth of global population and the reduction of arable land resources, agricultural production is facing increasing pressure. In order to improve agricultural production efficiency and reduce labor intensity, the research and development of intelligent agricultural equipment has become an important direction in the current agricultural science and technology field. Visual recognition technology, as one of the important branches of artificial intelligence, has broad application prospects in the field of agricultural robots.

[0003] In recent years, scholars at home and abroad have carried out a lot of research and practice in agricultural robot technology based on visual recognition. For example, they have developed a series of agricultural robot systems based on visual recognition using advanced image processing technology and deep learning algorithms, including fruit picking robots and plant protection drones. The emergence of these systems has made it possible for the automation and intelligence of agricultural production activities.

[0004] However, there are still some problems and challenges in the practical application of agricultural robot technology based on visual recognition. For example, the fruit recognition accuracy and picking stability of current picking robots in complex environments need to be improved. Utility Model Content

[0005] To this end, the technical problem to be solved by the utility model is to overcome the problem that the fruit recognition accuracy and picking stability of the picking robot in the prior art are not high enough in complex rings, and then provide a picking device based on visual recognition, which improves the walking ability of the picking device and effectively improves the accuracy and stability of fruit picking.

[0006] In order to solve the above technical problems, the utility model provides a picking device based on visual recognition, which includes a vehicle body, and the vehicle body includes:

[0007] Chassis;

[0008] A crawler, comprising two crawler groups symmetrically arranged on the left and right sides of the chassis, any one of the crawler groups comprises a first crawler, a second crawler and a third crawler that rotate synchronously, the first crawler and the second crawler are respectively arranged at the front end and the rear end of the chassis, the third crawler is arranged between the front end and the rear end, and the third crawler is located on the side of the first crawler and the second crawler relative to the chassis, wherein the front end of the first crawler and the front end of the second crawler can both be tilted up and down relative to the chassis.

[0009] In one embodiment of the utility model, a picking component is further included, wherein the picking component includes a mechanical arm arranged on the chassis, and an execution end arranged on the mechanical arm, and the execution end clamps or shears the picking object.

[0010] In one embodiment of the present invention, the robotic arm is configured as a multi-degree-of-freedom robotic arm.

[0011] In one embodiment of the utility model, it also includes a visual recognition component arranged on the execution end, and the visual recognition component includes a CCD camera. The CCD camera recognizes the characteristics of the picking object, and the characteristics include color, size, and shape.

[0012] In one embodiment of the utility model, the robotic arm is configured as a three-degree-of-freedom robotic arm, and the three-degree-of-freedom robotic arm includes a first connecting arm, a second connecting arm and a third connecting arm, the first connecting arm is vertically arranged on the chassis, the first connecting arm is connected to the chassis by rotating around a first direction, the second connecting arm is connected to the first connecting arm by rotating around a second direction, the third connecting arm is connected to the second connecting arm by rotating around a third direction, and the execution end is connected to the third connecting arm, wherein the first direction is a vertical direction, the second direction is a horizontal direction, and the second direction is perpendicular to the third direction.

[0013] In one embodiment of the utility model, it also includes a switching component arranged on the first connecting arm, the switching component includes a driver and a rotating frame rotatably connected to the first connecting arm, a plurality of storage boxes are provided on the rotating frame, and at least one of the storage boxes is located directly below the execution end, and the driver drives the rotating frame to rotate so that the plurality of storage boxes rotate in sequence to be directly below the execution end.

[0014] In one embodiment of the utility model, a control component is included, and the control component is used to control the picking component, the switching component and the visual recognition component.

[0015] In one embodiment of the utility model, the first crawler track is arranged on a first crawler bracket, the first crawler bracket is provided with a front end and a rear end, and the rear end of the first crawler bracket is rotatably connected to the chassis via a first rotating shaft; the second crawler track is arranged on a second crawler bracket, the second crawler bracket is provided with a front end and a rear end, and the rear end of the second crawler bracket is rotatably connected to the chassis via a second rotating shaft.

[0016] In one embodiment of the present utility model, the third crawler is arranged on a third crawler bracket, one end of the third crawler bracket is rotatably connected to the first rotating shaft, and the other end of the third crawler bracket is rotatably connected to the second rotating shaft.

[0017] In one embodiment of the present invention, the first crawler belt rotates the third crawler belt via a chain, and the third crawler belt is rotationally connected to the second crawler belt via a chain.

[0018] The above technical solution of the utility model has the following beneficial effects compared with the prior art:

[0019] The picking device based on visual recognition described in the utility model arranges the first track and the second track whose front ends can be tilted up or down at the front and rear ends of the chassis. When the vehicle body encounters uneven road conditions in the forward or backward direction, the front ends of the first track and the second track can be tilted up or down relative to the front of the chassis to fully contact the road surface, so that the first track, the second track and the third track can flexibly adapt to the uneven road conditions in the concave part, thereby improving the stability of the vehicle body and ensuring the accuracy and stability of picking. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to make the content of the utility model easier to understand, the utility model is further described in detail according to the specific embodiments of the utility model in combination with the accompanying drawings, wherein

[0021] Figure 1 It is a schematic diagram of the structure of a picking device based on visual recognition in a preferred embodiment of the utility model.

[0022] Figure 2 for Figure 1 A structural schematic diagram of a front view of a picking device based on visual recognition is shown.

[0023] Explanation of the reference numerals in the specification: 1. first track group; 11. first track; 111. first track bracket; 12. third track; 13. second track; 131. rear end; 132. front end; 133. second track bracket; 2. second track group; 3. chassis; 4. robotic arm; 41. first joint; 42. second joint; 43. first connecting arm; 44. second connecting arm; 45. third connecting arm; 46. third joint; 5. execution end; 51. CCD camera; 52. scissors; 6. storage box; 7. rotating frame; 8. second rotating shaft. DETAILED DESCRIPTION

[0024] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0025] Example

[0026] Reference Figure 1 and 2As shown, in one embodiment of the present utility model, a picking device based on visual recognition includes a vehicle body, wherein the vehicle body includes:

[0027] A chassis 3, on which a first driver for driving the vehicle body forward or backward is provided, and the first driver is preferably a motor;

[0028] The crawler comprises a first crawler group 1 and a second crawler group 2 symmetrically arranged on the left and right sides of the chassis 3, respectively. The first crawler group 1 and the second crawler group 2 both comprise a first crawler 11, a second crawler 13 and a third crawler 12 driven by the first driver to rotate synchronously. The first crawler 11, the second crawler 13 and the third crawler 12 are all driven by two gears. The first crawler 11 and the second crawler 13 are respectively arranged at the front end and the rear end of the chassis 3, the third crawler 12 is arranged between the front end and the rear end, and the third crawler 12 is located at the side of the first crawler 11 and the second crawler 13 relative to the connection with the chassis 3, that is, the third crawler 12 is located on the outside, and the first crawler 11 and the second crawler are on the inside, wherein the front end of the first crawler 11 The front end 132 of the second crawler 13 can be tilted up and down relative to the chassis 3. The front end and rear end described in this embodiment refer to the front and rear ends of the entity relative to the forward direction of the vehicle body. The first crawler 11 is located at the front end of the vehicle body, and the second crawler 13 is located at the rear end of the vehicle body. When the front of the picking device encounters a raised or upward slope, the front end of the first crawler 11 uses the support force of the raised terrain to tilt up, so that the entire first crawler 11 can flexibly adhere to the bottom surface of the raised surface. When the front of the picking device encounters a recessed or downward slope, the front end of the first crawler 11 loses the support force of the terrain and tilts down, so that the entire first crawler 11 can flexibly adhere to the bottom surface of the raised surface. When the picking device retreats, the working principles of the second crawler 13 and the first crawler 11 are the same and will not be repeated.

[0029] In one embodiment of the present invention, referring to Figure 2 As shown, it also includes a picking component, which includes a mechanical arm 4 arranged on the chassis 3, and an execution end 5 arranged on the mechanical arm 4, the mechanical arm 4 is used to drive the execution end 5 to move to the picking object, the execution end 5 is used to clamp or shear the picking object, the execution end 5 includes a scissors 52 for shearing the picking object, a second driver driving the scissors 52 to open, and a spring driving the scissors 52 to close; the picking objects include peppers, fruits, etc.

[0030] In one embodiment of the present invention, referring to Figure 2 As shown, in order to adjust the posture of the execution end 5 at any angle, the robot arm 4 is configured as a multi-degree-of-freedom robot arm.

[0031] In one embodiment of the present invention, referring to Figure 2 As shown, it also includes a visual recognition component arranged on the execution terminal 5, and the visual recognition component includes a CCD camera 51. The CCD camera 51 identifies the feature information of the picking object and sends the feature information to the robot arm 4 and the execution terminal 5 so that the execution terminal 5 can accurately perform the shearing action. The features include color, size, and shape.

[0032] In one embodiment of the present invention, referring to Figure 2 As shown, the robotic arm 4 is configured as a three-degree-of-freedom robotic arm, and the three-degree-of-freedom robotic arm includes a first connecting arm 43, a second connecting arm 44 and a third connecting arm 45, the first connecting arm 43 is vertically arranged on the chassis 3, the first connecting arm 43 is rotatably connected to the chassis 3 via a first joint 41 around a first direction, the second connecting arm 44 is rotatably connected to the first connecting arm 43 via a second joint 42 around a second direction, the third connecting arm 45 is rotatably connected to the second connecting arm 4 via a third joint 46 around a third direction, and the execution end 5 is connected to the third connecting arm 45, wherein the first direction is a vertical direction, the second direction is a horizontal direction, the second direction is perpendicular to the third direction, and in other embodiments, the second direction is parallel to the third direction.

[0033] In one embodiment of the present invention, referring to Figure 2 As shown, it also includes a switching component arranged on the first connecting arm 43, the switching component includes a third driver, a rotating frame 7 rotatably connected to the first connecting arm 43, the middle part of the rotating frame 7 is rotatably connected to the first connecting arm 43, and the rotating frame 7 is provided with a storage box 6 at both ends of the first connecting arm 43 at equal distances, and the top opening of the storage box 6 is configured to receive fallen picking objects, and at least one of the storage boxes 6 is located directly below the execution terminal 5 during picking. In order to achieve one storage box 6 receiving and the other storage box 6 unloading the picking objects, the driver drives the rotating frame 7 to rotate 180° so that the two storage boxes 6 are rotated in sequence to be directly below the execution terminal 5.

[0034] In one embodiment of the present invention, referring to Figure 1 As shown, it includes a control component, which is a programmable computer. The control component is used to control the first driver, the picking component, the switching component and the visual recognition component to coordinate and complete the picking action.

[0035] In one embodiment of the present invention, referring to Figure 1As shown, the first crawler 11 is arranged on the first crawler bracket 111, the first crawler bracket 111 has a front end and a rear end, a gear is arranged at the front end of the first crawler bracket 111, and a gear is arranged at the rear end of the first crawler bracket 111, the two gears are connected by a chain, the two gears drive the first crawler 11 to rotate, and the rear end of the first crawler bracket 111 is rotatably connected to the chassis 3 through the first rotating shaft, when the front end of the first crawler bracket 111 is tilted, the rear end of the first crawler bracket 111 rotates around the first rotating shaft; the second The crawler track 13 is arranged on the second crawler track bracket 133, and the second crawler track bracket 133 is provided with a front end 132 and a rear end. The front end of the second crawler track bracket 133 is provided with a gear, and the rear end of the second crawler track bracket 133 is provided with a gear. The two gears are connected by a chain, and the two gears drive the second crawler track 13 to rotate. The rear end 132 of the second crawler track bracket 133 is rotatably connected to the chassis 3 through the second rotating shaft 8. When the front end of the second crawler track bracket 133 is tilted, the rear end 131 of the second crawler track bracket 133 rotates around the second rotating shaft 8.

[0036] In one embodiment of the present invention, referring to Figure 1 As shown, the third crawler 12 is arranged on the third crawler bracket, and a gear is respectively provided at both ends of the third crawler bracket, and the two gears are connected by a chain. The two gears drive the third crawler 12 to rotate, and one end of the third crawler bracket is rotatably connected or fixedly connected to the first rotating shaft, and the other end of the third crawler bracket is rotatably connected or fixedly connected to the second rotating shaft 8. The gear at the rear end of the first crawler 11 is connected to a gear of the third crawler bracket through a chain. Similarly, the gear at the rear end of the second crawler 13 is connected to another gear of the third crawler bracket through a chain.

[0037] In one embodiment of the present invention, referring to Figure 1 As shown, the first driver drives the gear at the rear end of the first crawler 11 to rotate through a chain, the gear of the first crawler 11 rotates the third crawler 12 through the chain, and the third crawler 12 drives the second crawler 13 to rotate through the chain;

[0038] Alternatively, the first driver drives the gear at the rear end of the first crawler 11 and the rear end of the second crawler 13 to rotate through a chain, and the gear at the rear end of the first crawler 11 and the gear at the rear end of the second crawler 13 then rotate the two gears of the third crawler 12 through the chain, thereby driving the third crawler 12 to rotate.

[0039] The working principle of the picking device based on visual recognition described in the utility model is:

[0040] After the picking device is started, it is driven by two crawler groups to move in the field. After the picking device approaches the pepper plants, the control component controls the CDD camera to start scanning the peppers in the field, extracts the color, shape, size and other characteristic information of the peppers, and accurately identifies and locates the peppers that are suitable for picking after comparison. Then the control component controls the robot arm 4 and the execution end 5 to perform corresponding movements according to the identification results. The scissors 52 approach the peppers that are suitable for picking and cut the pepper stems, and the peppers fall into the storage box 6 below. When the storage box 6 is full, the driver drives the rotating frame 7 to rotate 180° so that the next storage box 6 moves to the execution scissors 52 to continue receiving the peppers. The fully loaded storage box 6 rotates to an open space for unloading.

[0041] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from these are still within the scope of protection of the invention of the utility model.

Claims

1. A picking device based on visual recognition, comprising a vehicle body, characterized in that: The vehicle body comprises: Chassis; A crawler, comprising two crawler groups symmetrically arranged on the left and right sides of the chassis, any one of the crawler groups comprises a first crawler, a second crawler and a third crawler that rotate synchronously, the first crawler and the second crawler are respectively arranged at the front end and the rear end of the chassis, the third crawler is arranged between the front end and the rear end, and the third crawler is located on the side of the first crawler and the second crawler relative to the chassis, wherein the front end of the first crawler and the front end of the second crawler can both be tilted up and down relative to the chassis.

2. A picking device based on visual recognition according to claim 1, characterized in that: It also includes a picking component, which includes a mechanical arm arranged on the chassis and an execution end arranged on the mechanical arm, and the execution end clamps or shears the picking object.

3. A picking device based on visual recognition according to claim 2, characterized in that: The mechanical arm is configured as a multi-degree-of-freedom mechanical arm.

4. A picking device based on visual recognition according to claim 2, characterized in that: It also includes a visual recognition component arranged on the execution end, and the visual recognition component includes a CCD camera. The CCD camera recognizes the characteristics of the picking object, and the characteristics include color, size, and shape.

5. A picking device based on visual recognition according to claim 4, characterized in that: The robotic arm is configured as a three-degree-of-freedom robotic arm, comprising a first connecting arm, a second connecting arm and a third connecting arm, wherein the first connecting arm is vertically disposed on the chassis, the first connecting arm is connected to the chassis by rotating around a first direction, the second connecting arm is connected to the first connecting arm by rotating around a second direction, the third connecting arm is connected to the second connecting arm by rotating around a third direction, and the execution end is connected to the third connecting arm, wherein the first direction is a vertical direction, the second direction is a horizontal direction, and the second direction is perpendicular to the third direction.

6. A picking device based on visual recognition according to claim 5, characterized in that: It also includes a switching component arranged on the first connecting arm, the switching component includes a driver and a rotating frame rotatably connected to the first connecting arm, a plurality of storage boxes are provided on the rotating frame, and at least one of the storage boxes is located directly below the execution end, and the driver drives the rotating frame to rotate so that the plurality of storage boxes rotate in sequence to be directly below the execution end.

7. A picking device based on visual recognition according to claim 6, characterized in that: It includes a control component, which is used to control the picking component, the switching component and the visual recognition component.

8. The picking device based on visual recognition according to claim 1, characterized in that: The first crawler track is arranged on a first crawler bracket, the first crawler bracket is provided with a front end and a rear end, and the rear end of the first crawler bracket is rotatably connected to the chassis via a first rotating shaft; the second crawler track is arranged on a second crawler bracket, the second crawler bracket is provided with a front end and a rear end, and the rear end of the second crawler bracket is rotatably connected to the chassis via a second rotating shaft.

9. A picking device based on visual recognition according to claim 8, characterized in that: The third crawler track is arranged on a third crawler track bracket, one end of the third crawler track bracket is rotatably connected to the first rotating shaft, and the other end of the third crawler track bracket is rotatably connected to the second rotating shaft.

10. A picking device based on visual recognition according to claim 1, characterized in that: The first crawler belt rotates the third crawler belt via a chain, and the third crawler belt is rotationally connected to the second crawler belt via a chain.

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